include "map_builder.lua"
include "trajectory_builder.lua"

options = {
  map_builder = MAP_BUILDER,
  trajectory_builder = TRAJECTORY_BUILDER,
  map_frame = "map",
  tracking_frame = "imu_link",
  published_frame = "base_footprint",
  odom_frame = "odom",
  provide_odom_frame = true,
  publish_frame_projected_to_2d = true,
  use_odometry = true,
  use_nav_sat = false,
  use_landmarks = false,
  num_laser_scans = 1,
  num_multi_echo_laser_scans = 0,
  num_subdivisions_per_laser_scan = 1,
  num_point_clouds = 0,
  lookup_transform_timeout_sec = 0.2,
  submap_publish_period_sec = 0.3,
  pose_publish_period_sec = 5e-3,
  trajectory_publish_period_sec = 30e-3,
  rangefinder_sampling_ratio = 1.,
  odometry_sampling_ratio = 1.,
  fixed_frame_pose_sampling_ratio = 1.,
  imu_sampling_ratio = 1.,
  landmarks_sampling_ratio = 1.,
}

MAP_BUILDER.use_trajectory_builder_2d = true
MAP_BUILDER.num_background_threads = 8

TRAJECTORY_BUILDER_2D.min_range = 0.2
TRAJECTORY_BUILDER_2D.max_range = 20.
TRAJECTORY_BUILDER_2D.missing_data_ray_length = 5.
TRAJECTORY_BUILDER_2D.use_imu_data = true

TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.linear_search_window = 0.1

TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.angular_search_window = math.rad(10.) 
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.translation_delta_cost_weight = 10.
TRAJECTORY_BUILDER_2D.real_time_correlative_scan_matcher.rotation_delta_cost_weight = 1e-1

TRAJECTORY_BUILDER_2D.ceres_scan_matcher.translation_weight = 10.
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.rotation_weight = 30.
TRAJECTORY_BUILDER_2D.ceres_scan_matcher.ceres_solver_options.max_num_iterations = 20

TRAJECTORY_BUILDER_2D.submaps.num_range_data = 35

TRAJECTORY_BUILDER_2D.motion_filter.max_distance_meters = 0.05 --0.05
TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(1.) --1.
TRAJECTORY_BUILDER_2D.motion_filter.max_time_seconds = 0.5

POSE_GRAPH.optimize_every_n_nodes = 35

POSE_GRAPH.constraint_builder.sampling_ratio = 0.3
POSE_GRAPH.constraint_builder.max_constraint_distance = 15.
POSE_GRAPH.constraint_builder.min_score = 0.5
POSE_GRAPH.constraint_builder.global_localization_min_score = 0.55
POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.linear_search_window = 3 --3.
POSE_GRAPH.constraint_builder.fast_correlative_scan_matcher.branch_and_bound_depth = 7 --7

POSE_GRAPH.optimization_problem.huber_scale = 1e2 
POSE_GRAPH.optimization_problem.ceres_solver_options.max_num_iterations = 15 --15
POSE_GRAPH.optimization_problem.ceres_solver_options.num_threads = 4 --4

POSE_GRAPH.global_constraint_search_after_n_seconds = 10.
POSE_GRAPH.global_sampling_ratio = 0.001

return options
